rawlog_record.h

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#pragma once

#include <mrpt/obs/CActionRobotMovement2D.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/CObservationBeaconRanges.h>
#include <mrpt/obs/CObservationBearingRange.h>
#include <mrpt/obs/CObservationOdometry.h>
#include <mrpt/obs/CRawlog.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/ros1bridge/logging.h>
#include <mrpt_rawlog_record/rawlog_record_defaults.h>
#include <stdint.h>

#include <boost/interprocess/sync/interprocess_mutex.hpp>
#include <iostream>

using mrpt::obs::CActionRobotMovement2D;
using mrpt::obs::CRawlog;

class RawlogRecord
{
   public:
        RawlogRecord() = default;
        ~RawlogRecord();

        struct Parameters
        {
                Parameters() = default;

                bool debug{RAWLOG_RECORD_DEFAULT_DEBUG};
                std::string raw_log_folder{RAWLOG_RECORD_DEFAULT_RAW_FOLDER};
                std::string raw_log_name{RAWLOG_RECORD_DEFAULT_RAW_LOG_NAME};
                std::string raw_log_name_asf{RAWLOG_RECORD_DEFAULT_RAW_LOG_NAME_ASF};
                bool record_range_scan{true};
                bool record_bearing_range{false};
                bool record_beacon_range{false};
                double bearing_range_std_range{0.1};
                double bearing_range_std_yaw{0.01};
                double bearing_range_std_pitch{0.01};
                CActionRobotMovement2D::TMotionModelOptions motionModelOptions;
        };

   protected:
        Parameters base_param_;

        CRawlog pRawLog;
        CRawlog pRawLogASF;
        void updateRawLogName(const mrpt::system::TTimeStamp& t);
        boost::interprocess::interprocess_mutex mutexRawLog;
};